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Motion Planning under Uncertainty: Integrating Learning-Based Multi-Modal Predictors into Branch Model Predictive Control (2405.03470v1)

Published 6 May 2024 in cs.RO, cs.SY, and eess.SY

Abstract: In complex traffic environments, autonomous vehicles face multi-modal uncertainty about other agents' future behavior. To address this, recent advancements in learningbased motion predictors output multi-modal predictions. We present our novel framework that leverages Branch Model Predictive Control(BMPC) to account for these predictions. The framework includes an online scenario-selection process guided by topology and collision risk criteria. This efficiently selects a minimal set of predictions, rendering the BMPC realtime capable. Additionally, we introduce an adaptive decision postponing strategy that delays the planner's commitment to a single scenario until the uncertainty is resolved. Our comprehensive evaluations in traffic intersection and random highway merging scenarios demonstrate enhanced comfort and safety through our method.

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